ColladaUtil Namespace Reference

Typedefs
typedef double	dReal
Functions
void	AxisAngleFromQuat (OpenHRP::DblArray4 &rotation, const OpenHRP::DblArray4 &quat)
void	AxisAngleTranslationFromPose (OpenHRP::DblArray4 &rotation, OpenHRP::DblArray3 &translation, const OpenHRP::DblArray12 &pose)
void	COLLADALOG_DEBUG (const std::string &s)
void	COLLADALOG_ERROR (const std::string &s)
void	COLLADALOG_INFO (const std::string &s)
void	COLLADALOG_VERBOSE (const std::string &s)
void	COLLADALOG_WARN (const std::string &s)
void	PoseFromAxisAngleTranslation (OpenHRP::DblArray12 &pose, const OpenHRP::DblArray4 &rotation, const OpenHRP::DblArray3 &translation)
void	PoseFromQuat (OpenHRP::DblArray12 &pose, const OpenHRP::DblArray4 &quat)
void	PoseIdentity (OpenHRP::DblArray12 &pose)
void	PoseInverse (OpenHRP::DblArray12 &poseinv, const OpenHRP::DblArray12 &pose)
template<typename T >
void	PoseMult (OpenHRP::DblArray12 &mres, const T &m0, const OpenHRP::DblArray12 &m1)
void	PoseMultVector (OpenHRP::DblArray3 &vnew, const OpenHRP::DblArray12 &m, const OpenHRP::DblArray3 &v)
void	PoseRotateVector (OpenHRP::DblArray3 &vnew, const OpenHRP::DblArray12 &m, const OpenHRP::DblArray3 &v)
template<typename T >
void	QuatFromAxisAngle (OpenHRP::DblArray4 &quat, const T &rotation, dReal fanglemult=1)
template<typename T >
void	QuatFromMatrix (OpenHRP::DblArray4 &quat, const T &mat)
std::string	tolowerstring (const std::string &s)
std::vector< dReal >	toVector (const OpenHRP::DblSequence &seq)

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Typedef Documentation

typedef double ColladaUtil::dReal

Definition at line 78 of file ColladaUtil.h.

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Function Documentation

void ColladaUtil::AxisAngleFromQuat	(	OpenHRP::DblArray4 &	rotation,
		const OpenHRP::DblArray4 &	quat
	)		[inline]

Definition at line 197 of file ColladaUtil.h.

void ColladaUtil::AxisAngleTranslationFromPose	(	OpenHRP::DblArray4 &	rotation,
		OpenHRP::DblArray3 &	translation,
		const OpenHRP::DblArray12 &	pose
	)		[inline]

Definition at line 275 of file ColladaUtil.h.

void ColladaUtil::COLLADALOG_DEBUG

(

const std::string &

s

)

[inline]

Definition at line 84 of file ColladaUtil.h.

void ColladaUtil::COLLADALOG_ERROR

(

const std::string &

s

)

[inline]

Definition at line 93 of file ColladaUtil.h.

void ColladaUtil::COLLADALOG_INFO

(

const std::string &

s

)

[inline]

Definition at line 87 of file ColladaUtil.h.

void ColladaUtil::COLLADALOG_VERBOSE

(

const std::string &

s

)

[inline]

Definition at line 81 of file ColladaUtil.h.

void ColladaUtil::COLLADALOG_WARN

(

const std::string &

s

)

[inline]

Definition at line 90 of file ColladaUtil.h.

void ColladaUtil::PoseFromAxisAngleTranslation	(	OpenHRP::DblArray12 &	pose,
		const OpenHRP::DblArray4 &	rotation,
		const OpenHRP::DblArray3 &	translation
	)		[inline]

Definition at line 265 of file ColladaUtil.h.

void ColladaUtil::PoseFromQuat	(	OpenHRP::DblArray12 &	pose,
		const OpenHRP::DblArray4 &	quat
	)		[inline]

Definition at line 246 of file ColladaUtil.h.

void ColladaUtil::PoseIdentity

(

OpenHRP::DblArray12 &

pose

)

[inline]

Definition at line 117 of file ColladaUtil.h.

void ColladaUtil::PoseInverse	(	OpenHRP::DblArray12 &	poseinv,
		const OpenHRP::DblArray12 &	pose
	)		[inline]

Definition at line 124 of file ColladaUtil.h.

template<typename T >

void ColladaUtil::PoseMult	(	OpenHRP::DblArray12 &	mres,
		const T &	m0,
		const OpenHRP::DblArray12 &	m1
	)		[inline]

Definition at line 133 of file ColladaUtil.h.

void ColladaUtil::PoseMultVector	(	OpenHRP::DblArray3 &	vnew,
		const OpenHRP::DblArray12 &	m,
		const OpenHRP::DblArray3 &	v
	)		[inline]

Definition at line 101 of file ColladaUtil.h.

void ColladaUtil::PoseRotateVector	(	OpenHRP::DblArray3 &	vnew,
		const OpenHRP::DblArray12 &	m,
		const OpenHRP::DblArray3 &	v
	)		[inline]

Definition at line 109 of file ColladaUtil.h.

template<typename T >

void ColladaUtil::QuatFromAxisAngle	(	OpenHRP::DblArray4 &	quat,
		const T &	rotation,
		dReal	fanglemult = 1
	)		[inline]

Definition at line 227 of file ColladaUtil.h.

template<typename T >

void ColladaUtil::QuatFromMatrix	(	OpenHRP::DblArray4 &	quat,
		const T &	mat
	)		[inline]

Definition at line 151 of file ColladaUtil.h.

std::string ColladaUtil::tolowerstring

(

const std::string &

s

)

[inline]

Definition at line 296 of file ColladaUtil.h.

std::vector<dReal> ColladaUtil::toVector

(

const OpenHRP::DblSequence &

seq

)

[inline]

Definition at line 285 of file ColladaUtil.h.